New wave gear reducer, flexspline assembly and robot

Abstract

To provide a strain wave gear reducer having a small axial dimension and high transmission torque. [Solution] The wave gear reducer includes a circular spline, a wave generator, a flexspline, and a torque transmission member, of which the wave generator is inserted into the circular spline, and the flexspline is inserted between the circular spline and the wave generator. When the flexspline is deformed by the protrusions of the wave generator, a gear mesh is generated between a part of the external gear corresponding to the protrusion of the flexspline and a part of the internal gear of the circular spline. The input connecting part of the torque transmission member is connected to the torque output part of the flexspline, and the output connecting part of the torque transmission member is connected to a fixed member and is used to further transmit torque. The torque transmission member can be deformed simultaneously with the flexspline member by the design of a deformable elastic part.

Description

[Technical field]

[0001] The present application relates to the technical field of strain wave gear reducers, and in particular to a new strain wave gear reducer. [Background technology]

[0002] A conventional wave gear reducer is composed of a circular spline, a flexspline, and a wave generator that generates radial deformation in the flexspline. When the wave generator rotates, it generates a controllable elastic deformation in the flexspline, and transmits power by meshing the teeth between the circular spline and the flexspline. A conventional general flexspline structure includes a thin-walled cylindrical structure with both ends open and a flange portion provided perpendicularly to one end of the thin-walled cylinder. Here, the flange portion is provided on the outside or inside of the thin-walled cylinder, so that it is divided into a hat-type flexspline and a cup-type flexspline. The same problem exists regardless of whether it is a hat-type flexspline or a cup-type flexspline. Since the structure of the flange portion is less likely to deform compared to the thin-walled cylinder, when the wave generator rotates and causes deformation of the flexspline, the end of the flexspline away from the flange portion is deformed, and the end of the flexspline where the flange portion is provided is less likely to undergo radial deformation or only slight radial deformation occurs due to the rigidity of the flange portion. Therefore, the flexspline is not easily deformed, and the flexspline is not easily deformed, and the flexspline is not easily deformed, and only slight radial deformation occurs due to the rigidity of the flange portion. The cylindrical part of the in has a coning shape, which makes it difficult for the flexspline and the circular spline to mesh over the entire tooth length. As a result, the torque value that the conventional wave gear reducer can transmit is only 40 to 60% of that when all the teeth are meshed. In order to avoid affecting the normal use and safety of the wave gear reducer (a conventional general flexspline usually requires the axial length of the gear to be longer in order to achieve torque output and increase the fatigue life of the flexspline. Taking the typical hat-type wave gear reducer of model 17 to 50 on the market as an example, the length of the flexspline is about 60% longer than the thickness of the gear part of the flexspline, the gear part of the circular spline, and the bearing of the wave generator), the conventional solution requires the axial length of the flexspline to be longer than the length of the gear part and the axial dimension of the wave generator and circular spline, which makes the axial dimension of the entire wave gear reducer longer and reduces the transmission rigidity. To address this problem, the conventional technology provides a flange part as an integrated thin-walled elastic structure, butIn actual production, the processing of such flexspline is difficult, and the yield is low.

[0003] Compared with the above-mentioned related art, the conventional wave gear reducer has the disadvantages of a large axial dimension and a low transmission torque. Summary of the Invention [Problem to be solved by the invention]

[0004] The present application provides a new type of wave gear reducer to overcome the drawbacks of conventional wave gear reducers, such as a large axial dimension and low transmission torque. [Means for solving the problem]

[0005] In order to solve the above problems, one technical solution adopted in the present application is a new wave gear reducer including four components: a circular spline, a flexspline, a wave generator, and a torque transmission member, The circular spline has a ring-shaped internal gear formed along an inner peripheral surface, the wave generator includes a cam having N protruding portions rotating around an axis line, and a flexible bearing coupled to an outer peripheral surface of the cam, the rolling elements of the flexible bearing can be realized by using balls, needles or rollers, N of the N protruding portions is an integer of ≧2, the wave generator is inserted into the circular spline, the flexspline has a ring-shaped external gear fabricated along an outer circumferential surface, the number of teeth of the ring-shaped external gear being smaller than the number of teeth of the ring-shaped internal gear, the flexspline has a torque output portion adjacent to the ring-shaped external gear along an axial direction, the flexspline is inserted between the circular spline and the wave generator, and an inner circumferential side of the flexspline is fitted into and deformed on an outer circumferential side of the wave generator, whereby the external gear of the flexspline and the internal gear of the circular spline partially mesh with each other, The torque transmission member is distributed along the circumferential direction of the inner or outer circumference of the torque output part with the axis as the center, the torque transmission member includes an input connecting part, a deformable elastic part and an output connecting part, the input connecting part is coupled to the outer or inner circumference surface of the torque output part to receive torque, and the output connecting part is connected to a fixed connecting member and used to transmit torque.

[0006] By adopting the above technical solution, a general flexspline structure is installed as a separate type flexspline and torque transmission member by installing the torque transmission member, and the torque of the flexspline is transmitted to the outside by the torque transmission member, and the torque transmission member has an elasticity due to the installation of a deformable elastic part, which improves the flexibility of the flexspline when transmitting torque compared to conventional wave gear reducers, and further increases the effective meshing length between the ring-shaped internal gear and the ring-shaped external gear, which can be brought close to meshing over the full tooth length, thereby improving the service life and safe torque transmission ability of the flexspline.

[0007] Here, in a conventional general wave gear reducer, when the flexspline deforms, the end of the flexspline that meshes with the circular spline deforms slightly, and the side of the flexspline that approaches the flange portion is less likely to deform. Therefore, in a general wave gear reducer, when the flexspline deforms, the axial cross section deforms into a coning shape, and when a wave generator of a general wave gear reducer uses a roller bearing, the loss of the flexspline is increased. However, the new wave gear reducer used in the present application has a separator-type arrangement between the flexspline and the torque transmission member, which makes the degree of deformation at both ends closer when the flexspline elastically deforms, and uses the needle bearing or the roller bearing, which increases the supporting effect of the flexible bearing on the flexspline, reduces the loss generated when the flexspline elastically deforms, and extends the service life of the flexspline.

[0008] Preferably, the torque output portion of the flexspline is coupled to the input connection portion of the torque transmission member by a coupling method including, but not limited to, welding, adhesive bonding, interference fit, spline connection, pressure contact and / or injection molded inserts.

[0009] Preferably, the welding method includes, but is not limited to, laser welding, friction welding, resistance welding, electromagnetic induction welding, and brazing welding.

[0010] Preferably, the cross section of the deformable elastic portion has a shape including, but not limited to, a straight shape, a U-shape, an S-shape, a V-shape, an N-shape, a C-shape, and / or an O-shape; The deformable elastic portion includes at least one axial turn; and / or The cross section of the deformable elastic part comprises at least one layer in the radial direction, and / or The deformable elastic portion is a full circle integral in the circumferential direction or a full circle formed by combining a plurality of arcs.

[0011] By adopting the above technical solution, the cross-sectional shape of the torque transmission member may adopt a combination method of several of the above forms, the torque transmission member of the same cross-sectional shape may be combined in a multi-layer manner around multiple torque transmission members, or a complete full circular structure may be formed by multiple arcs in the circumferential direction.

[0012] Preferably, the torque transmission member can be manufactured using alloy spring steel, high carbon spring steel, stainless spring steel, copper alloy, aluminum alloy, carbon fiber material, and / or resin material, but is not limited thereto.

[0013] Preferably, the flexible bearing of the wave generator includes four main components: a bearing outer race, a bearing inner race, the rolling elements, and a retainer.

[0014] Preferably, the new wave gear reducer further includes a bearing, the bearing being composed of the circular spline, the fixed connecting member, and the rolling element provided between the circular spline and the fixed connecting member, Alternatively, the bearing includes a first collar, a rolling element, and a second collar, the first collar being connected to the circular spline, and the second collar being connected to the fixed connecting member.

[0015] The present application further provides a flexspline including two members, a flexspline and a torque transmission member, wherein: the flexspline has an external gear inserted between the circular spline and a wave generator, the flexspline is stretched into a non-standard circle by the wave generator and is used to partially mesh with the circular spline; A torque transmission member is coupled to an outer peripheral wall or an inner peripheral wall of the flexspline in the radial direction of the flexspline, a first side edge of the torque transmission member is connected to the flexspline to receive torque, and a second side edge of the torque transmission member is connected to a fixed connecting member to transmit torque.

[0016] By adopting the above technical solution, the torque transmission member is provided with the deformable elastic portion, so that it is easily deformed in the radial direction together with the flexspline, and can be used to transmit torque output from the flexspline.

[0017] Preferably, the torque transmission member is manufactured using alloy spring steel, high carbon spring steel, stainless spring steel, copper alloy, carbon fiber material, aluminum alloy and / or resin material, and has elasticity, and the torque transmission member is connected to the flexspline by welding, bonding, interference fit, pressure contact and / or an insert by injection molding.

[0018] The present application further provides a robot employing any of the new wave gear reducers described above. Effect of the Invention

[0019] The beneficial effects of the present application are as follows: The separator-type installation of the flexspline and the torque transmission member in the new wave gear reducer reduces the axial dimension of the flexspline, thereby maintaining the safety of the flexspline against deformation and the service life of the new wave gear reducer, while reducing the axial dimension and weight of the entire new wave gear reducer, and increasing the effective meshing length between the flexspline and the circular spline, allowing it to approach full tooth length meshing, thereby improving the torque transmission capacity of the new wave gear reducer. [Brief description of the drawings]

[0020] In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without any creative efforts. [Figure 1] FIG. 1 is a schematic diagram showing the assembly structure of a typical top hat type strain wave gear reducer. [Diagram 2] FIG. 2 is a schematic diagram showing the structure of a flexspline and a circular spline in the general top hat type strain wave gear reducer shown in FIG. 1. [Diagram 3] FIG. 2 is a schematic diagram of the structure of the general top hat type strain wave gear reducer in FIG. 1 after a flexspline has been elastically deformed. [Figure 4] FIG. 1 is a schematic diagram showing an assembly structure of a typical cup-type strain wave gear reducer. [Diagram 5] FIG. 5 is a schematic diagram showing the structure of a flexspline and a circular spline in the general cup-type strain wave gear reducer shown in FIG. 4. [Figure 6] FIG. 5 is a schematic diagram of the structure of the general cup-type strain wave gear reducer in FIG. 4 after a flexspline has been elastically deformed. [Figure 7]FIG. 2 is a schematic diagram of the structural assembly of the new wave gear reducer provided in the embodiment of the present application. [Figure 8] FIG. 2 is a schematic diagram of a first type of bearing in the new wave gear reducer provided in the embodiment of the present application. [Figure 9] FIG. 2 is a schematic diagram of two types of bearings in the new wave gear reducer provided in the embodiment of the present application. [Figure 10] FIG. 8 is a schematic diagram of the structure of the flexspline of the new strain wave gear reducer in FIG. [Figure 11] FIG. 8 is a schematic diagram showing the structure of a torque transmission member of the new wave gear reducer in FIG. 7. [Figure 12] FIG. 8 is a schematic diagram of the radial direction state when the number of protrusions of the wave generator of the new wave gear reducer in FIG. 7 is two. [Figure 13] FIG. 8 is a schematic diagram of the radial direction state when the number of protrusions of the wave generator of the new wave gear reducer in FIG. 7 is three. [Figure 14] FIG. 8 is a schematic diagram of the radial direction state when the number of protrusions of the wave generator of the new wave gear reducer in FIG. 7 is four. [Figure 15] FIG. 1 is a cross-sectional view of an assembly structure of a typical top hat type strain wave gear reducer. [Figure 16] FIG. 1 is a schematic diagram of the cross-sectional structure of a new wave gear reducer provided in an embodiment of the present application, which uses a radial cross bearing, a torque transmission member having a U-shaped cross-sectional shape, and a flexible ball bearing, and the torque transmission member is arranged on the outside of the flexspline. [Figure 17] FIG. 1 is a schematic diagram of the cross-sectional structure of a new wave gear reducer provided in an embodiment of the present application, which uses a radial cross bearing, a torque transmission member with a C-shaped cross section, and a flexible ball bearing, and the torque transmission member is installed outside the flexspline. [Figure 18]This is a schematic diagram of the cross-sectional structure of a new wave gear reducer provided in an embodiment of the present application, which employs a radial cross bearing, a torque transmission member with a C-shaped cross section, and a flexible one-way roller bearing, and the torque transmission member is arranged on the outside of the flexspline. [Figure 19] FIG. 1 is a schematic diagram of the cross-sectional structure of a new wave gear reducer provided in an embodiment of the present application, which uses a radial cross bearing, a torque transmission member having a C-shaped cross section, and a flexible two-way roller bearing, and in which the torque transmission member is arranged on the outside of the flexspline. [Figure 20] FIG. 1 is a schematic diagram of the cross-sectional structure of a new wave gear reducer provided in an embodiment of the present application, which uses an axial cross bearing, a torque transmission member with a C-shaped cross section, and a flexible ball bearing, and the torque transmission member is installed outside the flexspline. [Figure 21] FIG. 1 is a schematic diagram of the cross-sectional structure of a new wave gear reducer provided in an embodiment of the present application, which uses a radial cross bearing, a torque transmission member with an S-shaped cross section, and a flexible ball bearing, and in which the torque transmission member is installed outside the flexspline. [Figure 22] FIG. 1 is a schematic diagram of the cross-sectional structure of a new wave gear reducer provided in an embodiment of the present application, which uses a radial cross bearing, a torque transmission member with an S-shaped cross section, and a flexible ball bearing, and the torque transmission member is installed inside the flexspline. [Diagram 23] 1 is a schematic diagram of the cross-sectional structure of a torque transmission member having a C-shaped cross section and a combination use method in a new wave gear reducer provided in an embodiment of the present application. [Figure 24] 1 is a schematic diagram of the cross-sectional structure of a V-shaped torque transmission member and a combination use method in a new wave gear reducer provided in an embodiment of the present application. [Diagram 25] 1 is a schematic diagram of the cross-sectional structure of a torque transmission member having an O-shaped cross section in a new wave gear reducer provided in an embodiment of the present application. [Figure 26]1 is a schematic diagram of the cross-sectional structure of a torque transmission member having a double V-shaped cross section in the axial direction in a new wave gear reducer provided in an embodiment of the present application. [Figure 27] 1 is a schematic diagram of the cross-sectional structure of a torque transmission member having a U-shaped cross section and a combination use method in a new wave gear reducer provided in an embodiment of the present application. [Figure 28] 1 is a schematic diagram of the cross-sectional structure of a torque transmission member having an S-shaped cross section in a new wave gear reducer provided in an embodiment of the present application. [Figure 29] 1 is a schematic diagram of the cross-sectional structure of a torque transmission member having an N-shaped cross section in a new wave gear reducer provided in an embodiment of the present application. [Diagram 30] 1 is a schematic diagram of the cross-sectional structure of a torque transmission member having a straight cross section in a new wave gear reducer provided in an embodiment of the present application. [Diagram 31] FIG. 1 is a simulation diagram of the meshing state between a flexspline and a circular spline of a typical strain wave gear reducer. [Diagram 32] FIG. 11 is a simulation diagram of the meshing state between the flexspline and the circular spline of the new wave gear reducer provided in the embodiment of the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Hereinafter, the technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application, and obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments of the present application, all other embodiments that a person skilled in the art can devise without making creative efforts are all within the scope of protection of the present application.

[0022] In the embodiments of the present application, when directional instructions (e.g., up, down, left, right, front, back, etc.) are used, the directional instructions are used only to interpret the relative positional relationships, movement conditions, etc. between each component in a certain posture (as shown in the drawings), and when the certain posture changes, the directional instructions also change accordingly.

[0023] In addition, when the embodiments of the present application refer to "first", "second", etc., it should be understood that the descriptions of "first", "second", etc. are for explanatory purposes only and do not indicate or imply the relative importance or the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment may be combined with each other if a person skilled in the art can realize it, and if the combination of technical solutions is mutually contradictory or cannot be realized, such combination of technical solutions does not exist and should be considered not to be included in the scope of protection claimed by the present application.

[0024] As shown in Figures 7 to 11, the present application provides a new wave gear reducer, where, as shown in Figure 7, the new wave gear reducer includes four basic components, namely, a circular spline 150, a flexspline 140, a wave generator 100, and a torque transmission member 130.

[0025] Of these, the circular spline 150 has a ring-shaped internal gear 151 formed along the circumferential surface.

[0026] As shown in Figures 12, 13 and 14, the wave generator 100 includes a cam 110 having N protruding portions that rotate around an axis, and a flexible bearing 120 coupled to the outer circumferential surface of the cam 110, the rolling elements 121 of the flexible bearing 120 can be realized by employing balls 122, needles or rollers 123, where N of the N protruding portions is an integer greater than or equal to 2, and the wave generator 100 is inserted into a circular spline 150.

[0027] The flexspline 140 has a ring-shaped external gear 146 fabricated along the outer circumferential surface, the number of teeth of the ring-shaped external gear 146 being less than the number of teeth of the ring-shaped internal gear 151, the flexspline 140 has a torque output section 147 adjacent to the ring-shaped external gear 146 along the axial direction, and the flexspline 140 is inserted between the circular spline 150 and the wave generator 100, and the inner circumferential side of the flexspline 140 engages with the outer circumferential side of the wave generator 100 and deforms, thereby partially meshing with the external gear of the flexspline 140 and the internal gear of the circular spline 150.

[0028] The torque transmission member 130 is distributed circumferentially along the inner or outer circumference of the torque output portion 147 with the axis as the center, and includes an input connecting portion 131, a deformable elastic portion 132 and an output connecting portion 133, the input connecting portion 131 being coupled to the outer or inner circumference of the torque output portion 147 to receive torque, and the output connecting portion 133 being connected to a fixed connecting member 160 to transmit torque.

[0029] By adopting the above technical solution, by installing the torque transmission member 130, the general flexspline 140 structure is installed as a separate type flexspline 140 and torque transmission member 130, the torque of the flexspline 140 is transmitted to the outside by the torque transmission member 130, and the torque transmission member 130 has an elasticity due to the installation of a deformable elastic part, which improves the flexibility of the flexspline 140 when transmitting torque compared with the conventional wave gear reducer, and further increases the effective meshing length between the ring-shaped internal gear 151 and the ring-shaped external gear 146 and allows it to approach the meshing of the full tooth length, thereby improving the service life and safe torque transmission ability of the flexspline 140.

[0030] As shown in FIGS. 1 to 6, in a conventional general wave gear reducer, when the flexspline 140 deforms, the end of the flexspline 140 that meshes with the circular spline 150 deforms slightly, and the side of the flexspline 140 that approaches the flange portion is less likely to deform. Therefore, in a general wave gear reducer, when the flexspline 140 deforms, the cross section in the axial direction deforms into a coning shape, and when the wave generator 100 of the general wave gear reducer uses a roller 123 bearing, the loss of the flexspline 140 increases. However, the new wave gear reducer used in the present application has a separator-type arrangement between the flexspline 140 and the torque transmission member 130, which makes the degree of deformation at both ends closer when the flexspline 140 elastically deforms, and by using needle bearings or roller 123 bearings, the supporting effect of the flexible bearing 120 on the flexspline 140 is improved, which reduces the loss generated when the flexspline 140 elastically deforms, and extends the service life of the flexspline 140.

[0031] As shown in Figures 1 to 6, in a typical hat-type wave gear reducer and a typical cup-type wave gear reducer, the flexspline 140 includes an external tooth portion 141 that meshes with the circular spline 150, a flexspline wall portion 142, a thin flange portion 143, and a fixed flange portion 144.

[0032] As shown in FIG. 15, FIG. 15 is a schematic cross-sectional view of a typical top hat type strain wave gear reducer currently available on the market.

[0033] As shown in Figures 31 and 32, the indicated areas in Figure 31 are the actual meshing length section 170 of the general wave gear reducer and the theoretical meshing length section 180 of the general wave gear reducer, and the indicated areas in Figure 32 are the actual meshing length section 170 of the new wave gear reducer and the theoretical meshing length section 180 of the new wave gear reducer. Comparing the simulation diagrams, it is found that the actual meshing length section 170 of the new wave gear reducer is larger than the actual meshing length section 170 of the general wave gear reducer, and the new wave gear reducer increases the meshing length between the flexspline and the circular spline compared to the general wave gear reducer, and can mesh with the entire tooth length, thereby improving the torque transmission capacity and transmission efficiency of the new wave gear reducer, and the new wave gear reducer increases the meshing length between the flexspline 140 and the circular spline 150 under various load conditions.

[0034] The torque output portion 147 of the flexspline 140 is connected to the input connection portion 131 of the torque transmission member 130, and the connection method includes, but is not limited to, welding, adhesive bonding, interference fitting, spline connection, pressure contact, and / or injection molding inserts, of which the welding method includes, but is not limited to, laser welding, friction welding, resistance welding, electromagnetic induction welding, and brazing welding.

[0035] As shown in Figures 23 to 30, the cross-section of the deformable elastic portion 132 may have a shape including, but not limited to, a straight shape, a U-shape, an S-shape, a V-shape, an N-shape, a C-shape, and / or an O-shape, the deformable elastic portion 132 includes at least one revolution in the axial direction, and / or the cross-section of the deformable elastic portion 132 includes at least one layer in the radial direction, and / or the deformable elastic portion 132 is a full circle integrated in the circumferential direction or a full circle formed by combining multiple arcs.

[0036] The cross-sectional shape of the torque transmission member 130 may adopt a combination of several of the above forms, or multiple torque transmission members 130 of the same cross-sectional shape may be combined in a multiple-layer manner, or multiple arcs in the circumferential direction may form a complete full circular structure.

[0037] The torque transmission member 130 may be manufactured using, but is not limited to, alloy spring steel, high carbon spring steel, stainless spring steel, copper alloy, aluminum alloy, carbon fiber material, and / or resin material, and the torque transmission member 130 is manufactured using a material that can be processed to have an elastic deformation structure.

[0038] As shown in FIGS. 1 to 6, the flexible bearing 120 of the wave generator 100 includes four main components, namely, a bearing outer ring 124, a bearing inner ring 125, a rolling element 121, and a retainer 126. Of these, the rolling element 121 can be a ball 122 or a roller 123. In the wave generator 100 used in a general wave gear reducer, when the flexspline 140 is deformed, the degree of deformation in the axial direction is non-uniform, so that when the flexspline 140 is deformed, the cross section in the axial direction is deformed into a coning-shaped structure. Therefore, the flexible bearing 120 in the general wave gear reducer is a roller 122 or a roller 123. If rollers 123 were used as rolling elements 121, this would cause the flexspline 140 to be prone to damage; however, the flexspline 140 in the new wave gear reducer provided in this application is designed such that the degree of overall deformation is uniform when the flexspline 140 deforms, due to the design of the deformable elastic portion 132 of the torque transmission member 130; and if rollers 123 are used as rolling elements 121 of the flexible bearing 120, the supporting effect of the flexible bearing 120 on the flexspline 140 can be improved and the loss generated when the flexspline 140 deforms can be reduced, thereby extending the service life of the flexspline 140.

[0039] As shown in FIG. 8, the new wave gear reducer further includes a bearing, which is composed of a circular spline 150, a fixed connecting member 160, and a rolling element 121 provided between the circular spline 150 and the fixed connecting member 160. Alternatively, as shown in FIG. 9 , the bearing includes a first collar 152, a rolling element 121, and a second collar 153, where the first collar 152 is connected to the circular spline 150 and the second collar 153 is connected to a fixed connecting member 160.

[0040] The present application further provides a flexspline, which includes two members, a flexspline 140 and a torque transmission member 130, of which the flexspline 140 is inserted between the circular spline 150 and the wave generator 100 and has an external gear, and the flexspline 140 is stretched on a non-standard circle by the wave generator 100 and is used to partially mesh with the circular spline 250.

[0041] The torque transmission member 130 is connected to the outer peripheral wall or the inner peripheral wall of the flexspline 140 in the radial direction of the flexspline 140, a first side edge of the torque transmission member 130 is connected to the flexspline 140 to receive torque, and a second side edge of the torque transmission member 130 is connected to the fixed connecting member 160 and used to transmit torque. Since the torque transmission member 130 is designed with a deformable elastic portion 132, it is easily deformed in the radial direction together with the flexspline 140, and can be used to transmit the torque output from the flexspline 140.

[0042] The torque transmission member 130 is manufactured using alloy spring steel, high carbon spring steel, stainless spring steel, copper alloy, carbon fiber material, aluminum alloy and / or resin material, and has elasticity, and is connected to the flexspline 140 by welding, bonding, interference fit, pressure contact and / or an insert by injection molding.

[0043] The present application further provides a robot employing any of the new wave gear reducers described above.

[0044] Specific Example 1: As shown in Figures 16, 17, 18, 19 and 21, in the new wave gear reducer, the rotation of the wave generator 100 generates elastic deformation in the flexspline 140, and the flexspline 140 transmits torque to the outside through the torque transmission member 130 and the meshing of the teeth of the flexspline 140 and the circular spline 150. Here, the wave generator 100 is composed of a cam 110 and a flexible bearing 120, of which the flexible bearing 120 can be adopted as a needle bearing, a roller 123 bearing or a flexible deep groove ball bearing. When the cam 110 rotates, it abuts against the flexspline 140 via the flexible bearing 120 to deform the flexspline 140, and the torque is transmitted to the circular spline 150 through the meshing of the teeth between the end of the flexspline 140 where the external gear is provided and the inside of the circular spline 150. In this embodiment, an internal gear is provided on the inner wall of the radial cross bearing. Therefore, the radial cross bearing is directly used as the circular spline 150, and the torque transmission member 130 is connected to the outer wall of the flexspline 140 at the end remote from the external gear. The fixed connecting member 160 may be a torque sensor for measuring the torque output from the torque transmission member 130. The fixed connecting member 160 is provided on one side of the bearing and connected to the torque transmission member 130. The cross section of the deformable elastic portion 132 of the torque transmission member 130 may be straight, U-shaped, S-shaped, V-shaped, N-shaped, The shapes may include, but are not limited to, a C-shape and / or an O-shape, and may be used in multiple layers along the axial direction or in multiple layers along the radial direction. By installing the separator type of the flexspline 140 and the torque transmission member 130, the new wave gear reducer reduces the axial height of the entire new wave gear reducer and reduces the weight of the new wave gear reducer while maintaining the safety of the deformation rotation and service life of the flexspline 140, thereby improving the transmission efficiency of the new wave gear reducer.

[0045] Specific Example 2: As shown in FIG. 20, in the new wave gear reducer, the rotation of the wave generator 100 generates elastic deformation in the flexspline 140, and the flexspline 140 transmits torque to the outside through the torque transmission member 130 and the meshing of the teeth of the flexspline 140 with the circular spline 150. Here, the wave generator 100 is composed of a cam 110 and a flexible bearing 120, among which the flexible bearing 120 can be adopted as a needle bearing, a roller 123 bearing or a flexible deep groove ball bearing. When the cam 110 rotates, it abuts against the flexspline 140 via the flexible bearing 120 to deform the flexspline 140, and the torque is transmitted to the circular spline 150 through the meshing of the teeth between the end of the flexspline 140 where the external gear is provided and the inside of the circular spline 150. In this embodiment, an internal gear is provided on the inner wall of the axial cross bearing, so that the axial cross bearing is directly used as the circular spline 150 to transmit torque. The extending member 130 is connected to the outer wall of the end of the flexspline 140 away from the external gear, and the fixed connecting member 160 may be a torque sensor for measuring the torque output from the torque transmitting member 130. The fixed connecting member 160 is integral with an axial cross bearing and connected to one side of the torque transmitting member 130. The cross section of the deformable elastic portion 132 of the torque transmitting member 130 may have a shape including, but not limited to, a straight shape, a U-shape, an S-shape, a V-shape, an N-shape, a C-shape, and / or an O-shape, and may be formed in multiple shapes along the axial direction. They may be used in layers or in multiple layers along the radial direction. By arranging the flexspline 140 and the torque transmission member 130 in a separator type, the new wave gear reducer reduces the axial height of the entire new wave gear reducer while maintaining the safety of deformation and rotation of the flexspline 140 and its service life. By integrating the fixed connecting member 160 with the axial cross bearing, the axial dimension of the entire new wave gear reducer is further reduced and the weight of the new wave gear reducer is reduced, thereby improving the transmission efficiency of the new wave gear reducer.

[0046] Specific Example 3: As shown in FIG. 22, in the new wave gear reducer, the rotation of the wave generator 100 generates elastic deformation in the flexspline 140, and the flexspline 140 transmits torque to the outside through the torque transmission member 130 and the meshing of the teeth of the flexspline 140 and the circular spline 150. Here, the wave generator 100 is composed of a cam 110 and a flexible deep groove ball bearing, and when the cam 110 rotates, it abuts against the flexspline 140 via the flexible bearing 120 to deform the flexspline 140, and the torque is transmitted to the circular spline 150 through the meshing of the teeth between the end of the flexspline 140 where the external gear is provided and the inside of the circular spline 150. In this embodiment, an internal gear is provided on the inner wall of the radial cross bearing, so that the radial cross bearing is directly used as the circular spline 150, and the torque transmission member 130 is attached to the inner wall of the end of the flexspline 140 away from the external gear. a transmission bearing for improving the assembly stability of the fixed connecting member 160 is further provided between the fixed connecting member 160 and the cam 110; the cross section of the deformable elastic portion 132 of the torque transmission member 130 may have a shape including, but not limited to, a straight shape, a U-shape, an S-shape, a V-shape, an N-shape, a C-shape, and / or an O-shape, and may be used in a multi-layered manner along the axial direction or in a multi-layered manner along the radial direction; and by providing a separator type between the flexspline 140 and the torque transmission member 130, the new wave gear reducer reduces the axial height of the entire new wave gear reducer and reduces the weight of the new wave gear reducer while maintaining the safety of deformation and rotation of the flexspline 140 and the service life, thereby improving the transmission efficiency of the new wave gear reducer.

[0047] As described above, the separator-type installation of the flexspline 140 and the torque transmission member 130 in the new wave gear reducer reduces the axial dimension of the flexspline 140, thereby maintaining the deformation safety and service life of the flexspline 140 in the new wave gear reducer, while reducing the axial dimension and weight of the entire new wave gear reducer, and increasing the effective meshing length between the flexspline 140 and the circular spline 150, approaching meshing over the entire tooth length, thereby improving the torque transmission capacity of the new wave gear reducer.

[0048] The above are preferred embodiments of the present application, and do not limit the scope of protection of the present application. Therefore, any equivalent changes made according to the structure, shape and principle of the present application should be included within the scope of protection of the present application. [Explanation of symbols]

[0049] 100...wave generator, 110...cam, 120...flexible bearing, 121...rolling element, 122...ball, 123...roller, 124...bearing outer ring, 125...bearing inner ring, 126...retainer, 130...torque transmission member, 131...input connecting portion, 132...deformable elastic portion, 133...output connecting portion, 140...flexspline, 141...external tooth portion, 142...flexspline wall portion, 143...thin flange portion, 144...fixed flange portion, 145...flexspline wall initial position, 146...ring-shaped external gear, 147...torque output portion, 150...circular spline, 151...ring-shaped internal gear, 152...first collar, 153...second collar, 160...fixed connecting member, 170...actual meshing length section, 180...theoretical meshing length section.

Claims

1. A new wave gear reducer including four members: a circular spline (150), an elastically deformable flexspline (140), a wave generator (100), and a torque transmission member (130), The circular spline (150) has a ring-shaped internal gear (151) formed along the inner peripheral surface, The wave generator (100) includes a cam (110) having N protruding portions rotating around an axis, and a flexible bearing (120) coupled to an outer peripheral surface of the cam (110), the rolling elements of the flexible bearing (120) can be realized by adopting balls (122), needles or rollers (123), N of the N protruding portions is an integer of ≧2, and the wave generator (100) is inserted into the circular spline (150), The flexspline (140) has a ring-shaped external gear (146) formed along its outer circumferential surface, the number of teeth of the ring-shaped external gear (146) being less than the number of teeth of the ring-shaped internal gear (151), the flexspline (140) has a torque output section (147) adjacent to the ring-shaped external gear (146) along the axial direction, the flexspline (140) is inserted between the circular spline (150) and the wave generator (100), and the inner circumferential side of the flexspline (140) is fitted into the outer circumferential side of the wave generator (100) and deforms, thereby partially meshing the external gear of the flexspline (140) and the internal gear of the circular spline (150), The torque transmission member (130) is distributed around the axis along the circumferential direction of the inner or outer circumference of the torque output portion (147), and the torque transmission member (130) includes an input connection portion (131), a deformable elastic portion (132) and an output connection portion (133), the input connection portion (131) is coupled to the outer or inner circumference of the torque output portion (147) to receive torque, and the output connection portion (133) is connected to a fixed connection member (160) to transmit torque, a cross section of the deformable elastic portion (132) in a direction perpendicular to a circumferential direction of the flexspline (140) is straight, U-shaped, S-shaped, V-shaped, N-shaped, C-shaped, and / or O-shaped; The deformable elastic portion (132) includes at least one axial turn; and / or The cross section of the deformable elastic portion (132) includes at least one layer in the radial direction; and / or A new wave gear reducer, characterized in that the deformable elastic portion (132) is a full circle integrated in the circumferential direction or a full circle combining multiple arcs (excluding cases where a bearing is provided in the internal region of the torque transmission member).

2. The new wave gear reducer according to claim 1, characterized in that the torque output portion (147) of the flexspline (140) is connected to the input connection portion (131) of the torque transmission member (130), and the connection manner includes, but is not limited to, welding, adhesive bonding, interference fit, spline connection, pressure contact and / or injection molding insert.

3. The new wave gear reducer according to claim 2, wherein the welding method includes, but is not limited to, laser welding, friction welding, resistance welding, electromagnetic induction welding, and brazing welding.

4. 2. The strain wave gear reducer according to claim 1, wherein the torque transmission member (130) can be manufactured using, but is not limited to, alloy spring steel, high carbon spring steel, stainless spring steel, copper alloy, aluminum alloy, carbon fiber material, and / or resin material.

5. 2. The strain wave gear reducer according to claim 1, characterized in that the flexible bearing (120) of the wave generator (100) includes four main components: a bearing outer ring (124), a bearing inner ring (125), the rolling elements (121), and a retainer (126).

6. The new wave gear reducer further includes a bearing, the bearing being composed of the circular spline (150), the fixed connecting member (160), and the rolling element (121) provided between the circular spline (150) and the fixed connecting member (160); Alternatively, the new wave gear reducer according to claim 1, characterized in that the bearing includes a first collar (152), a rolling element (121), and a second collar (153), the first collar (152) being connected to the circular spline (150), and the second collar (153) being connected to the fixed connecting member (160).

7. A flexspline including two members, an elastically deformable flexspline (140) and a deformable torque transmission member (130), The flexspline (140) has an external gear and is inserted between the circular spline (150) and a wave generator (100) including a cam (110) having N protruding portions rotating around an axis and a flexible bearing (120) coupled to the outer circumferential surface of the cam (110), and the flexspline (140) is used to become a non-standard circle by the wave generator (100) and to partially mesh with the circular spline (150); The flexspline (140) includes a ring-shaped external gear (146) formed along an outer circumferential surface, and a torque output portion (147) adjacent to the external gear (146) along an axial direction, the torque transmission member (130) is connected to an outer peripheral wall or an inner peripheral wall of the torque output portion (147) in the radial direction of the flexspline (140), the torque transmission member (130) includes an input connection portion (131), a deformable elastic portion (132) and an output connection portion (133), the input connection portion (131) is connected to an outer peripheral surface or an inner peripheral surface of the torque output portion (147) to receive torque, and the output connection portion (133) is used for connecting to a fixed connection member (160) to transmit torque, a cross section of the deformable elastic portion (132) in a direction perpendicular to a circumferential direction of the flexspline (140) is straight, U-shaped, S-shaped, V-shaped, N-shaped, C-shaped, and / or O-shaped; The deformable elastic portion (132) includes at least one axial turn; and / or The cross section of the deformable elastic portion (132) includes at least one layer in the radial direction; and / or A flexspline characterized in that the deformable elastic portion (132) is a full circle integrated in the circumferential direction or a full circle formed by combining a plurality of arcs (excluding cases where a bearing is provided in the internal region of the torque transmission member).

8. The new flexspline according to claim 7, characterized in that the torque transmission member (130) is manufactured using alloy spring steel, high carbon spring steel, stainless spring steel, copper alloy, carbon fiber material, aluminum alloy and / or resin material and has elasticity, and the torque transmission member (130) is connected to the flexspline (140) by welding, adhesive, interference fit, pressure contact and / or injection molding insert.

9. A robot, comprising the new strain wave gear reducer according to any one of claims 1 to 6.

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